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How to automate the launching procedure of ROS nodes

Hi,

I am interested in automating the commands that I have to type in separate new terminals to launch various nodes.

step:1.sudo su

step:2.cd /root/fuerte_workspace

step:3.source /root/fuerte_workspace/setup.sh

Above three steps need to be repeated every time when I launch new terminals(ctrl+alt+t). with following commands

command:1 roscore

command:2 roslaunch move_base.launch

command:3 rosrun rviz rviz

to launch command4, I need to go to /opt/ros/fuerte/stacks/yujin_cmd_vel_mux

command:4 roslaunch cmd_vel_mux standalone.launch

Procedure One: Through shell script I have written a sample directly executable shell script. but it is not working properly.

Procedure Two: Through include tag in one launch file. But I don't know how to incorporate rosrun commands inside a launch file.

How to automate the launching procedure of ROS nodes

Hi,

I am interested in automating the commands that I have to type in separate new terminals to launch various nodes.

step:1.sudo su

step:2.cd /root/fuerte_workspace

step:3.source /root/fuerte_workspace/setup.sh

Above three steps need to be repeated every time when I launch new terminals(ctrl+alt+t). with following commands

command:1 roscore

command:2 roslaunch move_base.launch

command:3 rosrun rviz rviz

to launch command4, I need to go to /opt/ros/fuerte/stacks/yujin_cmd_vel_mux

command:4 roslaunch cmd_vel_mux standalone.launch

Procedure One: Through shell script I have written a sample directly executable shell script. but it is not working properly.properly and following error occurs in the new terminal when roscore tries to initialize.

Script ERROR.jpg

Procedure Two: Through include tag in one launch file. But I don't know how to incorporate rosrun commands inside a launch file.